CN116086253A - Multi-star anti-collision separation method - Google Patents

Multi-star anti-collision separation method Download PDF

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Publication number
CN116086253A
CN116086253A CN202211583713.6A CN202211583713A CN116086253A CN 116086253 A CN116086253 A CN 116086253A CN 202211583713 A CN202211583713 A CN 202211583713A CN 116086253 A CN116086253 A CN 116086253A
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satellite
separation
attitude
angle
attitude angle
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杨凯铜
黄晓平
岳小飞
王志军
唐梦莹
张修玮
刘李雷
何漫丽
谢凤云
周鑫
张昌涌
黎桪
李晓苏
邹延兵
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CASIC Rocket Technology Co
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CASIC Rocket Technology Co
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a multi-satellite anti-collision separation method, which comprises the steps of generating an adjusted transition attitude angle instruction by adopting a fastest discrete tracking differentiator according to the direction of satellite separation after satellite separation, adjusting the final stage attitude of a rocket in the opposite direction of satellite separation, and keeping the current attitude adjustment angle of the final stage of the rocket for a safe time Δt 3 And then, adjusting the final attitude of the rocket to the separation attitude angle of the next satellite, and repeating the steps to continue separating the subsequent satellites. The final stage and the satellite are reversely adjusted in the separation direction and the angle after the adjustment is kept for a certain safe time, so that the separated satellites are prevented from colliding with the final stage, an attitude angle instruction in the adjustment process is generated through a fastest discrete tracking differentiator, the quick and smooth transition of the final stage attitude angle in the anti-collision adjustment process is ensured, the movement stability of the final stage around the mass center in the adjustment process is ensured, and the influence on the subsequent satellite separation is avoided.

Description

Multi-star anti-collision separation method
Technical Field
The invention relates to the technical field of carrier rocket attitude control, in particular to a multi-star anti-collision separation method.
Background
With the rise of the commercial aerospace industry, the market demand of small satellite launching service expands, a carrier rocket is generally required to send two or more satellites into a preset orbit through one-time launching in a mode of one rocket and multiple satellites, the multiple satellites are installed through a satellite supporting box, the satellite supporting box is installed on the axis of the rocket body due to the limitation of the space structure of a fairing of the carrier rocket, and the multiple satellites are generally installed on two sides or the periphery of the satellite supporting box in a side-hanging mode.
When the rocket last stage flies into the satellite-rocket separation section, the last stage (rocket last stage is called as last stage for short) separates from each satellite according to a preset time sequence due to different separation time of each satellite. When a satellite and an arrow are separated, a mode of explosion bolts and pre-pressing springs is adopted, larger impact and interference are generated during separation, so that unpredictable angular rates are generated between the separated satellites and the final stage, if no control measures are adopted, the separated satellites and the final stage have collision risks, the final stage and the non-separated satellites are damaged, and the subsequent separation of the non-satellites is influenced. After the satellite on one side of the satellite supporting box is separated, the satellite on the other side of the satellite supporting box is arranged on the satellite supporting box, the mass distribution of the final stage is uneven in the state, the mass center position deviates from the axis of the final stage, and the y-direction mass center position and the z-direction mass center position of the arrow body have larger components, so that unpredictable interference and influence of separation impact on the final stage gesture motion are more easily aggravated. Therefore, adjustment measures are needed to be taken during the separation of the satellites and the arrows so as to eliminate the collision risk during the separation of the satellites and the arrows.
Disclosure of Invention
The invention aims to provide a multi-satellite anti-collision separation method which is used for reducing or eliminating the risk that satellites are separated and then collide with a final stage under the condition of launching one arrow and multiple satellites. According to the satellite separation direction, the final attitude is adjusted after separation, and in order to ensure quick and gentle transition of the final attitude adjustment process, a transition attitude angle instruction in the attitude adjustment process is generated by adopting a fastest discrete tracking differentiator.
In order to achieve the above purpose, the specific technical scheme of the invention is as follows: after the satellites are separated, an adjusting transition attitude angle instruction is generated by adopting a fastest discrete tracking differentiator according to the direction of satellite separation, the final attitude of the rocket is adjusted to the opposite direction of satellite separation, and the final attitude of the rocket keeps the current attitude adjustment angle for a safe time delta t 3 And then, adjusting the final attitude of the rocket to the separation attitude angle of the next satellite, and repeating the steps to continue separating the subsequent satellites.
The safety time Deltat 3 The method is calculated in advance according to orbit parameters in ballistic design, and the separated satellite and the final stage are ensured to have enough safe distance.
Further, the separation method specifically comprises the following steps:
s1: let the first satellite separation time be t 1 Pitch angle at separation is
Figure BDA0003991724180000021
Yaw angle phi 1 The rolling angle is gamma 1 ，
Δt after first satellite separation 1 During the time, the final stage posture of the rocket is kept
Figure BDA0003991724180000022
φ 1 ,γ 1 Unchanged from t 1 +Δt 1 Starting at moment, starting the rocket final stage to adjust the attitude for the first time, and adjusting the attitude angle delta theta to the direction opposite to the separation direction of the first satellite, wherein the adjusted attitude angle is +.>
Figure BDA0003991724180000023
φ 2 ,γ 2 The time for adjusting the gesture is deltat 2 The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, the most rapid discrete tracking differentiator is utilized to generate a slave attitude angle
Figure BDA0003991724180000024
φ 1 ,γ 1 Adjust to->
Figure BDA0003991724180000025
φ 2 ,γ 2 Is a transition attitude angle instruction;
s2: final posture of rocket is adjusted to be
Figure BDA0003991724180000026
φ 2 ,γ 2 After that, the attitude angle Deltat is maintained 3 Time; then starting the second posture adjustment, setting the second satellite separation posture angle as +.>
Figure BDA0003991724180000027
φ 3 ,γ 3 Generating a transition attitude angle by utilizing a fastest discrete tracking differentiator, so that the final attitude of the rocket is adjusted to be the second satellite separation attitude angle +.>
Figure BDA0003991724180000028
φ 3 ,γ 3 After flying to the second satellite separation time, starting to separate the second satellite;
repeating the steps S1-S2, and separating delta t of each satellite 1 And (3) starting to adjust the gesture at the time, and then adjusting the gesture to the separation gesture angle of the next satellite until all satellites are separated, so as to finish the final flight.
Further, the generating of the slave attitude angle by using the fastest discrete tracking differentiator
Figure BDA0003991724180000029
φ 1 ,γ 1 Adjust to->
Figure BDA00039917241800000210
φ 2 ,γ 2 The specific formula of the fastest discrete tracking differentiator generated by the transition attitude angle instruction is as follows:
Figure BDA00039917241800000211
in the above formula, h is the calculated step length, r is the gesture adjusting parameter, and the time deltat required by the gesture adjusting process is adjusted by adjusting the parameter r 2 ，θ cx In order to adjust the target attitude angle instruction, theta (k) is a transition attitude angle instruction obtained by calculation of the current beat, theta (k+1) is a transition attitude angle instruction of the next beat obtained by recursive calculation,
Figure BDA00039917241800000212
for the current beat transition attitude angle command rate of change,
Figure BDA0003991724180000031
and the change rate of the instruction of the attitude angle of the next beat obtained by recursive calculation is calculated.
Further, the method comprises the steps of,
function fhan (x 1 ,x 2 R, h) is expressed as follows:
Figure BDA0003991724180000032
x 1 ＝θ(k)-θ cx ,，
Figure BDA0003991724180000033
wherein x in fsg (x, d) = (sign (x+d) -sign (x-d))/2 is an unknown number, and x is the aforementioned x 1 、x 2 Is irrelevant;
further, the Δt 1 0.2-1s.
Further, the step h is a step calculated by a computer, and is usually 0.01, and the pose adjustment parameter r is usually 2-5.
Compared with the prior art, the invention has the following beneficial effects:
the multi-satellite anti-collision separation method provided by the invention can be used for completing anti-collision separation in all satellite separation processes during multi-satellite launching of an arrow, collision between the separated satellites and the final stage is avoided by reversely adjusting the final stage and the satellite separation direction and keeping a certain angle after gesture adjustment for a certain safety time, a gesture angle instruction in the gesture adjustment process is generated by a fastest discrete tracking differentiator, rapid and smooth transition of the final stage gesture angle in the anti-collision gesture adjustment process is ensured, stable movement of the final stage around the mass center in the gesture adjustment process is ensured, and influence on subsequent satellite separation is avoided.
Drawings
FIG. 1 is a schematic diagram of an arrow double-star anti-collision separation process provided by an embodiment of the invention;
FIG. 2 is a flow chart of an anti-collision separation method for one arrow and two stars provided by the embodiment of the invention;
FIG. 3 is a pitch attitude control graph of a first satellite anti-collision separation according to an embodiment of the present invention;
fig. 4 is a pitch attitude adjustment curve of a first satellite and a second satellite separated anti-collision according to an embodiment of the invention.
Symbol description: 1-rocket final stage, 2-first satellite, 3-second satellite, 4-satellite separation direction, 5-attitude adjustment direction,
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples below for the purpose of more clearly illustrating the objects, technical solutions and advantages of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention relates to a multi-star anti-collision separation method, which is described by taking a final-stage satellite-rocket anti-collision separation process of a rocket double-star carrier rocket as an example, wherein fig. 1 is a schematic diagram of the single-rocket double-star anti-collision separation process, and fig. 2 is a flow chart of the single-rocket double-star anti-collision separation method.
The multi-star anti-collision separation method specifically comprises the following steps:
s1: let the first satellite separation time be t 1 Final attitude pitch angle during separation
Figure BDA0003991724180000041
Is at-45 degrees and the yaw angle phi 1 Is 0 degree and roll angle gamma 1 0 °, Δt after satellite separation 1 In time, the final attitude keeps the pitch angle-45 degrees, the yaw angle 0 degrees and the roll angle 0 degrees unchanged, and the embodiment deltat 1 The attitude of the final stage is adjusted from 0.5s after separation to 0.5s, the first satellite separation direction is the negative direction of the pitching channel, the final stage adjusts the attitude angle by 5 degrees towards the opposite direction of the satellite separation direction, the adjusted attitude angle is pitch angle-40 degrees, yaw angle 0 degrees and roll angle 0 degrees, namely the final stage adjusts the attitude from pitch angle-45 degrees to pitch angle-40 degrees within 3.1s (the simulation is carried out after the artificial parameter r is set in the time), and the yaw angle and the roll angle are kept unchanged;
in order to ensure the quick and gentle posture adjustment process, the pitch adjustment is to generate a transition pitch angle instruction which is adjusted to-40 degrees from-45 degrees by using a fastest discrete tracking differentiator, wherein the specific formula of the fastest discrete tracking differentiator generated by the transition pitch angle instruction is as follows:
Figure BDA0003991724180000051
in the above, h is the calculation step length, specifically 0 is taken01 (seconds), r is a posture adjustment parameter, specifically 2, the time required by the posture adjustment process can be adjusted by the parameter r,
Figure BDA0003991724180000052
transition attitude angle instruction calculated for current beat, < ->
Figure BDA0003991724180000053
For the next beat transition attitude angle instruction calculated by recursion,/>
Figure BDA0003991724180000054
To adjust the initial pitch angle->
Figure BDA0003991724180000055
Instruction change rate of transition attitude angle for current beat, < +.>
Figure BDA0003991724180000056
And the change rate of the instruction of the attitude angle of the next beat obtained by recursive calculation is calculated. The final stage attitude adjustment process during the first satellite separation is shown in figure 3.
Function fhan (x 1 ,x 2 R, h) is expressed as follows:
Figure BDA0003991724180000057
x 1 ＝θ(k)-θ cx ，
Figure BDA0003991724180000058
wherein x in fsg (x, d) = (sign (x+d) -sign (x-d))/2 is an unknown number, and x is the aforementioned x 1 、x 2 Is irrelevant;
s2: after the final attitude is adjusted to the pitch angle of-40 degrees, the yaw angle of 0 degrees and the roll angle of 0 degrees, the attitude angle 236.5s is kept (calculated in advance according to orbit parameters at this time) in order to ensure the collision-free safe flight of the first satellite and the final stage after the separation of the satellites and the satellites. Then, the final attitude is adjusted to return to a pitch angle of-40 degrees, a yaw angle of 0 degrees and a roll angle of 0 degrees, so as to prepare for the separation of the second satellite, a transition pitch angle instruction with a pitch angle of-45 degrees adjusted to-40 degrees is generated by using the fastest discrete tracking differentiator, and after the second satellite is flown for the separation time, the second satellite is separated;
after separation of the second satellite Δt 1 In time, namely within 0.5s, the final attitude keeps the pitch angle of-45 degrees, the yaw angle of 0 degrees and the roll angle of 0 degrees unchanged, the final attitude adjustment starts from 0.5s after separation, the second satellite separation direction is the positive direction of the pitch channel, the final attitude is adjusted by 5 degrees towards the opposite direction of the second satellite separation direction, the adjusted attitude angle is pitch angle of-50 degrees, the yaw angle of 0 degrees and the roll angle of 0 degrees, the final attitude is adjusted from pitch angle of-45 degrees to pitch angle of-50 degrees within 3.1s, the yaw angle and the roll angle are kept unchanged, and the transition pitch angle instruction from pitch angle of-45 degrees to-50 degrees is generated by using the fastest discrete tracking differentiator so as to ensure the rapid and gentle attitude adjustment process. The anti-collision attitude adjustment process of the pitching attitude angle in the separation process of the first satellite and the second satellite is shown in fig. 4.

Claims (6)

1. A multi-satellite anti-collision separation method is characterized in that after satellites are separated, an adjusted transition attitude angle instruction is generated by adopting a fastest discrete tracking differentiator according to the direction of satellite separation, the final stage attitude of a rocket is adjusted to the opposite direction of satellite separation, and the final stage of the rocket keeps the current attitude adjustment angle for a safe time delta t 3 And then, adjusting the final attitude of the rocket to the separation attitude angle of the next satellite, and repeating the steps to continue separating the subsequent satellites.
2. The multi-star anti-collision separation method according to claim 1, comprising the following steps:
s1: let the first satellite separation time be t 1 Pitch angle at separation is
Figure FDA0003991724170000011
Yaw angle phi 1 The rolling angle is gamma 1 The method comprises the steps of carrying out a first treatment on the surface of the Δt after satellite separation 1 During the time, the final posture of the rocket is kept +.>
Figure FDA0003991724170000012
φ 1 ,γ 1 Unchanged from t 1 +Δt 1 Starting at moment, starting the first attitude adjustment of the rocket final stage, and adjusting the attitude angle delta theta to the opposite direction of the satellite separation direction, wherein the adjusted attitude angle is +.>
Figure FDA0003991724170000014
φ 2 ,γ 2 The time for adjusting the gesture is deltat 2 The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, the maximum speed discrete tracking differentiator is used to generate the slave attitude angle +.>
Figure FDA0003991724170000015
φ 1 ,γ 1 Adjust to->
Figure FDA0003991724170000013
φ 2 ,γ 2 Is a transition attitude angle instruction;
s2: final posture of rocket is adjusted to be
Figure FDA0003991724170000016
φ 2 ,γ 2 After that, the attitude angle Deltat is maintained 3 Time; then starting the second posture adjustment, setting the second satellite separation posture angle as +.>
Figure FDA0003991724170000017
φ 3 ,γ 3 Generating a transition attitude angle by utilizing a fastest discrete tracking differentiator, so that the final attitude of the rocket is adjusted to be the second satellite separation attitude angle +.>
Figure FDA0003991724170000018
φ 3 ,γ 3 After flying to the second satellite separation time, starting to separate the second satellite;
repeating the steps S1-S2, wherein the delta is separated from each satellitet 1 And after the time, the attitude is adjusted, and then the attitude is adjusted to the separation attitude angle of the next satellite until all satellites are separated, so that the final-stage flight is completed.
3. A multi-star anti-collision separation method according to claim 2, wherein the generating of the slave attitude angle using a fastest discrete tracking differentiator
Figure FDA0003991724170000019
φ 1 ,γ 1 Adjust to->
Figure FDA00039917241700000110
φ 2 ,γ 2 The fastest discrete tracking differentiator is specifically represented by the following formula:
Figure FDA0003991724170000021
in the above formula, h is the calculated step length, r is the gesture adjusting parameter, and the time deltat required by the gesture adjusting process is adjusted by adjusting the parameter r 2 ，θ cx In order to adjust the target attitude angle instruction, theta (k) is a transition attitude angle instruction obtained by calculation of the current beat, theta (k+1) is a transition attitude angle instruction of the next beat obtained by recursive calculation,
Figure FDA0003991724170000022
instruction change rate of transition attitude angle for current beat, < +.>
Figure FDA0003991724170000023
And the change rate of the instruction of the attitude angle of the next beat obtained by recursive calculation is calculated.
4. A multi-star anti-collision separation method according to claim 3, wherein,
function fhan (x 1 ,x 2 R, h) is expressed as follows:
Figure FDA0003991724170000024
wherein x is 1 ＝θ(k)-θ cx ，
Figure FDA0003991724170000025
5. The multi-star anti-collision separation method according to claim 2, wherein Δt is 1 0.2-1s.
6. The multi-star anti-collision separation method according to claim 3, wherein the step h is 0.01, and the posture adjustment parameter r is 2-5.
CN202211583713.6A 2022-12-09 2022-12-09 Multi-star anti-collision separation method Pending CN116086253A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117270573A (en) * 2023-11-15 2023-12-22 航天科工火箭技术有限公司 Control method, device, medium and equipment for rocket evasion space fragment group

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117270573A (en) * 2023-11-15 2023-12-22 航天科工火箭技术有限公司 Control method, device, medium and equipment for rocket evasion space fragment group
CN117270573B (en) * 2023-11-15 2024-02-06 航天科工火箭技术有限公司 Control method, device, medium and equipment for rocket evasion space fragment group

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